impact_dynamics.hpp

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#ifndef ROBOTOC_IMPACT_DYNAMICS_HPP_
#define ROBOTOC_IMPACT_DYNAMICS_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/impact_status.hpp"
#include "robotoc/core/split_solution.hpp"
#include "robotoc/core/split_direction.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"
#include "robotoc/dynamics/contact_dynamics_data.hpp"
 
 
namespace robotoc {
 
void evalImpactDynamics(Robot& robot, const ImpactStatus& impact_status,
                        const SplitSolution& s, ContactDynamicsData& data);
 
void linearizeImpactDynamics(Robot& robot, const ImpactStatus& impact_status, 
                             const SplitSolution& s, ContactDynamicsData& data, 
                             SplitKKTResidual& kkt_residual);
 
void condenseImpactDynamics(Robot& robot, const ImpactStatus& impact_status,
                            ContactDynamicsData& data, 
                            SplitKKTMatrix& kkt_matrix, 
                            SplitKKTResidual& kkt_residual);
 
void expandImpactDynamicsPrimal(const ContactDynamicsData& data, 
                                SplitDirection& d);
 
void expandImpactDynamicsDual(ContactDynamicsData& data, 
                              const SplitDirection& d_next, SplitDirection& d);
 
} // namespace robotoc 
 
#endif // ROBOTOC_IMPACT_DYNAMICS_HPP_